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<div class="textblock"><code>#include &lt;Stream.h&gt;</code><br />
<code>#include &lt;SPI.h&gt;</code><br />
<code>#include &quot;<a class="el" href="_s_e_r_i_a_l___s_w_i_t_c_h_8h_source.html">source/SERIAL_SWITCH.h</a>&quot;</code><br />
<code>#include &quot;<a class="el" href="_s_w___s_p_i_8h_source.html">source/SW_SPI.h</a>&quot;</code><br />
<code>#include &quot;<a class="el" href="_t_m_c2130__bitfields_8h_source.html">source/TMC2130_bitfields.h</a>&quot;</code><br />
<code>#include &quot;<a class="el" href="_t_m_c2160__bitfields_8h_source.html">source/TMC2160_bitfields.h</a>&quot;</code><br />
<code>#include &quot;<a class="el" href="_t_m_c5130__bitfields_8h_source.html">source/TMC5130_bitfields.h</a>&quot;</code><br />
<code>#include &quot;<a class="el" href="_t_m_c5160__bitfields_8h_source.html">source/TMC5160_bitfields.h</a>&quot;</code><br />
<code>#include &quot;<a class="el" href="_t_m_c2208__bitfields_8h_source.html">source/TMC2208_bitfields.h</a>&quot;</code><br />
<code>#include &quot;<a class="el" href="_t_m_c2209__bitfields_8h_source.html">source/TMC2209_bitfields.h</a>&quot;</code><br />
<code>#include &quot;<a class="el" href="_t_m_c2660__bitfields_8h_source.html">source/TMC2660_bitfields.h</a>&quot;</code><br />
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<p><a href="_t_m_c_stepper_8h_source.html">Go to the source code of this file.</a></p>
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Classes</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c_stepper.html">TMCStepper</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_t_m_c_stepper_1_1_t_s_t_e_p__t.html">TMCStepper::TSTEP_t</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_t_m_c_stepper_1_1_m_s_c_n_t__t.html">TMCStepper::MSCNT_t</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c2130_stepper.html">TMC2130Stepper</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_t_m_c2130_stepper_1_1_i_o_i_n_t__t.html">TMC2130Stepper::IOINT_t</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_t_m_c2130_stepper_1_1_p_w_m___s_c_a_l_e__t.html">TMC2130Stepper::PWM_SCALE_t</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_t_m_c2130_stepper_1_1_l_o_s_t___s_t_e_p_s__t.html">TMC2130Stepper::LOST_STEPS_t</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_t_m_c2130_stepper_1_1_d_r_v___s_t_a_t_u_s__t.html">TMC2130Stepper::DRV_STATUS_t</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c2160_stepper.html">TMC2160Stepper</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_t_m_c5130_stepper_1_1_i_f_c_n_t__t.html">TMC5130Stepper::IFCNT_t</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_t_m_c5130_stepper_1_1_v_a_c_t_u_a_l__t.html">TMC5130Stepper::VACTUAL_t</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_t_m_c5130_stepper_1_1_x_t_a_r_g_e_t__t.html">TMC5130Stepper::XTARGET_t</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_t_m_c5130_stepper_1_1_x_l_a_t_c_h__t.html">TMC5130Stepper::XLATCH_t</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_t_m_c5130_stepper_1_1_x___e_n_c__t.html">TMC5130Stepper::X_ENC_t</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_t_m_c5130_stepper_1_1_e_n_c___s_t_a_t_u_s__t.html">TMC5130Stepper::ENC_STATUS_t</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_t_m_c5130_stepper_1_1_e_n_c___l_a_t_c_h__t.html">TMC5130Stepper::ENC_LATCH_t</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c5160_stepper.html">TMC5160Stepper</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c5161_stepper.html">TMC5161Stepper</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c2208_stepper.html">TMC2208Stepper</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_t_m_c2208_stepper_1_1_i_f_c_n_t__t.html">TMC2208Stepper::IFCNT_t</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_t_m_c2208_stepper_1_1_o_t_p___p_r_o_g__t.html">TMC2208Stepper::OTP_PROG_t</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_t_m_c2208_stepper_1_1_o_t_p___r_e_a_d__t.html">TMC2208Stepper::OTP_READ_t</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c2209_stepper.html">TMC2209Stepper</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c2224_stepper.html">TMC2224Stepper</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c2660_stepper.html">TMC2660Stepper</a></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="define-members"></a>
Macros</h2></td></tr>
<tr class="memitem:a228f29487dc2b6a31020b99cd9d39f58"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c_stepper_8h.html#a228f29487dc2b6a31020b99cd9d39f58">SW_CAPABLE_PLATFORM</a>&#160;&#160;&#160;defined(__AVR__) || defined(TARGET_LPC1768) || defined(ARDUINO_ARCH_STM32)</td></tr>
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<tr class="memitem:a8959748d2d3de12de82bba0c165beff8"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c_stepper_8h.html#a8959748d2d3de12de82bba0c165beff8">INIT_REGISTER</a>(REG)&#160;&#160;&#160;REG##_t REG##_register = REG##_t</td></tr>
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<tr class="memitem:a5d5da4553db304467a5c70356da54d64"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c_stepper_8h.html#a5d5da4553db304467a5c70356da54d64">INIT2130_REGISTER</a>(REG)&#160;&#160;&#160;TMC2130_n::REG##_t REG##_register = TMC2130_n::REG##_t</td></tr>
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<tr class="memitem:adbe576db0b480baa07436e071c183ace"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c_stepper_8h.html#adbe576db0b480baa07436e071c183ace">INIT2160_REGISTER</a>(REG)&#160;&#160;&#160;TMC2160_n::REG##_t REG##_register = TMC2160_n::REG##_t</td></tr>
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<tr class="memitem:a41c62a6927a624e880bec0b36770dd57"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c_stepper_8h.html#a41c62a6927a624e880bec0b36770dd57">INIT5130_REGISTER</a>(REG)&#160;&#160;&#160;TMC5130_n::REG##_t REG##_register = TMC5130_n::REG##_t</td></tr>
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<tr class="memitem:a9711d87029c9eab9a7eda661a2f88ea5"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c_stepper_8h.html#a9711d87029c9eab9a7eda661a2f88ea5">INIT5160_REGISTER</a>(REG)&#160;&#160;&#160;TMC5160_n::REG##_t REG##_register = TMC5160_n::REG##_t</td></tr>
<tr class="separator:a9711d87029c9eab9a7eda661a2f88ea5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad3faa86a36ee20e55f83c318a63cd8e6"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c_stepper_8h.html#ad3faa86a36ee20e55f83c318a63cd8e6">INIT2660_REGISTER</a>(REG)&#160;&#160;&#160;TMC2660_n::REG##_t REG##_register = TMC2660_n::REG##_t</td></tr>
<tr class="separator:ad3faa86a36ee20e55f83c318a63cd8e6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9a69624acc893dc81529bdac5f8cfbbc"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c_stepper_8h.html#a9a69624acc893dc81529bdac5f8cfbbc">INIT2208_REGISTER</a>(REG)&#160;&#160;&#160;TMC2208_n::REG##_t REG##_register = TMC2208_n::REG##_t</td></tr>
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<tr class="memitem:ab0939d8bbb87a29cf174ba4bb8cf93db"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c_stepper_8h.html#ab0939d8bbb87a29cf174ba4bb8cf93db">INIT2224_REGISTER</a>(REG)&#160;&#160;&#160;TMC2224_n::REG##_t REG##_register = TMC2224_n::REG##_t</td></tr>
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<tr class="memitem:a09eff48f4ff614246f7e1f284def2f24"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c_stepper_8h.html#a09eff48f4ff614246f7e1f284def2f24">SET_ALIAS</a>(TYPE,  DRIVER,  NEW,  ARG,  OLD)&#160;&#160;&#160;TYPE (DRIVER::*NEW)(ARG) = &amp;DRIVER::OLD</td></tr>
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<tr class="memitem:af4bb583b32f1374f6cf7c793e1c0bd0e"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c_stepper_8h.html#af4bb583b32f1374f6cf7c793e1c0bd0e">TMCSTEPPER_VERSION</a>&#160;&#160;&#160;0x000602</td></tr>
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<h2 class="groupheader">Macro Definition Documentation</h2>
<a id="a5d5da4553db304467a5c70356da54d64"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a5d5da4553db304467a5c70356da54d64">&#9670;&nbsp;</a></span>INIT2130_REGISTER</h2>

<div class="memitem">
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          <td class="memname">#define INIT2130_REGISTER</td>
          <td>(</td>
          <td class="paramtype">&#160;</td>
          <td class="paramname">REG</td><td>)</td>
          <td>&#160;&#160;&#160;TMC2130_n::REG##_t REG##_register = TMC2130_n::REG##_t</td>
        </tr>
      </table>
</div><div class="memdoc">

<p class="definition">Definition at line <a class="el" href="_t_m_c_stepper_8h_source.html#l00040">40</a> of file <a class="el" href="_t_m_c_stepper_8h_source.html">TMCStepper.h</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#adbe576db0b480baa07436e071c183ace">&#9670;&nbsp;</a></span>INIT2160_REGISTER</h2>

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          <td class="memname">#define INIT2160_REGISTER</td>
          <td>(</td>
          <td class="paramtype">&#160;</td>
          <td class="paramname">REG</td><td>)</td>
          <td>&#160;&#160;&#160;TMC2160_n::REG##_t REG##_register = TMC2160_n::REG##_t</td>
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<p class="definition">Definition at line <a class="el" href="_t_m_c_stepper_8h_source.html#l00041">41</a> of file <a class="el" href="_t_m_c_stepper_8h_source.html">TMCStepper.h</a>.</p>

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<a id="a9a69624acc893dc81529bdac5f8cfbbc"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a9a69624acc893dc81529bdac5f8cfbbc">&#9670;&nbsp;</a></span>INIT2208_REGISTER</h2>

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          <td class="memname">#define INIT2208_REGISTER</td>
          <td>(</td>
          <td class="paramtype">&#160;</td>
          <td class="paramname">REG</td><td>)</td>
          <td>&#160;&#160;&#160;TMC2208_n::REG##_t REG##_register = TMC2208_n::REG##_t</td>
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<p class="definition">Definition at line <a class="el" href="_t_m_c_stepper_8h_source.html#l00045">45</a> of file <a class="el" href="_t_m_c_stepper_8h_source.html">TMCStepper.h</a>.</p>

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<a id="ab0939d8bbb87a29cf174ba4bb8cf93db"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab0939d8bbb87a29cf174ba4bb8cf93db">&#9670;&nbsp;</a></span>INIT2224_REGISTER</h2>

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          <td class="memname">#define INIT2224_REGISTER</td>
          <td>(</td>
          <td class="paramtype">&#160;</td>
          <td class="paramname">REG</td><td>)</td>
          <td>&#160;&#160;&#160;TMC2224_n::REG##_t REG##_register = TMC2224_n::REG##_t</td>
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<p class="definition">Definition at line <a class="el" href="_t_m_c_stepper_8h_source.html#l00046">46</a> of file <a class="el" href="_t_m_c_stepper_8h_source.html">TMCStepper.h</a>.</p>

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<a id="ad3faa86a36ee20e55f83c318a63cd8e6"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ad3faa86a36ee20e55f83c318a63cd8e6">&#9670;&nbsp;</a></span>INIT2660_REGISTER</h2>

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          <td class="memname">#define INIT2660_REGISTER</td>
          <td>(</td>
          <td class="paramtype">&#160;</td>
          <td class="paramname">REG</td><td>)</td>
          <td>&#160;&#160;&#160;TMC2660_n::REG##_t REG##_register = TMC2660_n::REG##_t</td>
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<p class="definition">Definition at line <a class="el" href="_t_m_c_stepper_8h_source.html#l00044">44</a> of file <a class="el" href="_t_m_c_stepper_8h_source.html">TMCStepper.h</a>.</p>

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<a id="a41c62a6927a624e880bec0b36770dd57"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a41c62a6927a624e880bec0b36770dd57">&#9670;&nbsp;</a></span>INIT5130_REGISTER</h2>

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          <td class="memname">#define INIT5130_REGISTER</td>
          <td>(</td>
          <td class="paramtype">&#160;</td>
          <td class="paramname">REG</td><td>)</td>
          <td>&#160;&#160;&#160;TMC5130_n::REG##_t REG##_register = TMC5130_n::REG##_t</td>
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</div><div class="memdoc">

<p class="definition">Definition at line <a class="el" href="_t_m_c_stepper_8h_source.html#l00042">42</a> of file <a class="el" href="_t_m_c_stepper_8h_source.html">TMCStepper.h</a>.</p>

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<a id="a9711d87029c9eab9a7eda661a2f88ea5"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a9711d87029c9eab9a7eda661a2f88ea5">&#9670;&nbsp;</a></span>INIT5160_REGISTER</h2>

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          <td class="memname">#define INIT5160_REGISTER</td>
          <td>(</td>
          <td class="paramtype">&#160;</td>
          <td class="paramname">REG</td><td>)</td>
          <td>&#160;&#160;&#160;TMC5160_n::REG##_t REG##_register = TMC5160_n::REG##_t</td>
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<p class="definition">Definition at line <a class="el" href="_t_m_c_stepper_8h_source.html#l00043">43</a> of file <a class="el" href="_t_m_c_stepper_8h_source.html">TMCStepper.h</a>.</p>

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<a id="a8959748d2d3de12de82bba0c165beff8"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a8959748d2d3de12de82bba0c165beff8">&#9670;&nbsp;</a></span>INIT_REGISTER</h2>

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          <td class="memname">#define INIT_REGISTER</td>
          <td>(</td>
          <td class="paramtype">&#160;</td>
          <td class="paramname">REG</td><td>)</td>
          <td>&#160;&#160;&#160;REG##_t REG##_register = REG##_t</td>
        </tr>
      </table>
</div><div class="memdoc">

<p class="definition">Definition at line <a class="el" href="_t_m_c_stepper_8h_source.html#l00039">39</a> of file <a class="el" href="_t_m_c_stepper_8h_source.html">TMCStepper.h</a>.</p>

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<a id="a09eff48f4ff614246f7e1f284def2f24"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a09eff48f4ff614246f7e1f284def2f24">&#9670;&nbsp;</a></span>SET_ALIAS</h2>

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          <td class="memname">#define SET_ALIAS</td>
          <td>(</td>
          <td class="paramtype">&#160;</td>
          <td class="paramname">TYPE, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">&#160;</td>
          <td class="paramname">DRIVER, </td>
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        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">&#160;</td>
          <td class="paramname">NEW, </td>
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        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">&#160;</td>
          <td class="paramname">ARG, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">&#160;</td>
          <td class="paramname">OLD&#160;</td>
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        <tr>
          <td></td>
          <td>)</td>
          <td></td><td>&#160;&#160;&#160;TYPE (DRIVER::*NEW)(ARG) = &amp;DRIVER::OLD</td>
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<p class="definition">Definition at line <a class="el" href="_t_m_c_stepper_8h_source.html#l00047">47</a> of file <a class="el" href="_t_m_c_stepper_8h_source.html">TMCStepper.h</a>.</p>

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<a id="a228f29487dc2b6a31020b99cd9d39f58"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a228f29487dc2b6a31020b99cd9d39f58">&#9670;&nbsp;</a></span>SW_CAPABLE_PLATFORM</h2>

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          <td class="memname">#define SW_CAPABLE_PLATFORM&#160;&#160;&#160;defined(__AVR__) || defined(TARGET_LPC1768) || defined(ARDUINO_ARCH_STM32)</td>
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<p class="definition">Definition at line <a class="el" href="_t_m_c_stepper_8h_source.html#l00019">19</a> of file <a class="el" href="_t_m_c_stepper_8h_source.html">TMCStepper.h</a>.</p>

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<a id="af4bb583b32f1374f6cf7c793e1c0bd0e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#af4bb583b32f1374f6cf7c793e1c0bd0e">&#9670;&nbsp;</a></span>TMCSTEPPER_VERSION</h2>

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          <td class="memname">#define TMCSTEPPER_VERSION&#160;&#160;&#160;0x000602</td>
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<p class="definition">Definition at line <a class="el" href="_t_m_c_stepper_8h_source.html#l00049">49</a> of file <a class="el" href="_t_m_c_stepper_8h_source.html">TMCStepper.h</a>.</p>

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